Classifications

• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
  • G01P3/42—Devices characterised by the use of electric or magnetic means
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/20—Instruments for performing navigational calculations
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
  • G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
  • G01B7/02—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness
  • G01B7/023—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring length, width or thickness for measuring distance between sensor and object
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C17/00—Compasses; Devices for ascertaining true or magnetic north for navigation or surveying purposes
  • G01C17/02—Magnetic compasses
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/04—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means
  • G01C21/08—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by terrestrial means involving use of the magnetic field of the earth
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
  • G01C21/10—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration
  • G01C21/12—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 by using measurements of speed or acceleration executed aboard the object being navigated; Dead reckoning
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
  • G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01P—MEASURING LINEAR OR ANGULAR SPEED, ACCELERATION, DECELERATION, OR SHOCK; INDICATING PRESENCE, ABSENCE, OR DIRECTION, OF MOVEMENT
  • G01P3/00—Measuring linear or angular speed; Measuring differences of linear or angular speeds
  • G01P3/64—Devices characterised by the determination of the time taken to traverse a fixed distance
  • G01P3/66—Devices characterised by the determination of the time taken to traverse a fixed distance using electric or magnetic means
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
  • G01R33/00—Arrangements or instruments for measuring magnetic variables
  • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
  • G01R33/0206—Three-component magnetometers
• • B—PERFORMING OPERATIONS; TRANSPORTING
  • B64—AIRCRAFT; AVIATION; COSMONAUTICS
  • B64C—AEROPLANES; HELICOPTERS
  • B64C39/00—Aircraft not otherwise provided for
  • B64C39/02—Aircraft not otherwise provided for characterised by special use
  • B64C39/024—Aircraft not otherwise provided for characterised by special use of the remote controlled vehicle type, i.e. RPV
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
  • G01R33/00—Arrangements or instruments for measuring magnetic variables
  • G01R33/0094—Sensor arrays
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
  • G01R33/00—Arrangements or instruments for measuring magnetic variables
  • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
  • G01R33/035—Measuring direction or magnitude of magnetic fields or magnetic flux using superconductive devices
  • G01R33/0354—SQUIDS
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
  • G01R33/00—Arrangements or instruments for measuring magnetic variables
  • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
  • G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
  • G01R33/07—Hall effect devices
  • G01R33/072—Constructional adaptation of the sensor to specific applications
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
  • G01R33/00—Arrangements or instruments for measuring magnetic variables
  • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
  • G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
  • G01R33/09—Magnetoresistive devices
  • G01R33/091—Constructional adaptation of the sensor to specific applications
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
  • G01R33/00—Arrangements or instruments for measuring magnetic variables
  • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
  • G01R33/06—Measuring direction or magnitude of magnetic fields or magnetic flux using galvano-magnetic devices
  • G01R33/09—Magnetoresistive devices
  • G01R33/093—Magnetoresistive devices using multilayer structures, e.g. giant magnetoresistance sensors
• • G—PHYSICS
  • G01—MEASURING; TESTING
  • G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
  • G01R33/00—Arrangements or instruments for measuring magnetic variables
  • G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
  • G01R33/10—Plotting field distribution ; Measuring field distribution

Definitions

• Gyroscopic systems including heading-vertical gyroscope platforms
• a vehicle orientation angles (e.g. heading, pitch, and roll) in a joint rectangular coordinate frame relative to the Earth-Centered, Earth-Fixed (ECEF) coordinate frame, and those calculations may be used to control the vehicle.
• orientation angles e.g. heading, pitch, and roll
• ECEF Earth-Fixed
• Such systems are typically complex, often relying on suites of multiple different sources. Such systems are often relatively heavy (e.g. approximately 5 kg or more) and relatively expensive.
• unmanned or manned aerial vehicles e.g.
• GNSS Global Navigation Satellite System
• PNT position, navigation, and time
• GNSSs can have failure points. For example, some GNSSs lose reliability when operated inside buildings or in areas where network communication to the device is intermittent. Some GNSSs lose reliability when operated in dense city environments where large buildings interfere with communication signals. Some GNSSs lose reliability when operated in areas such as caves, tunnels, and mountains that impede location devices’ reception of signals from GNSS satellites. Moreover, some GNSSs are susceptible to malicious attacks by electronic interference or physical intervention that degrade their reliability.
• FIGS.1A-1D illustrate example unmanned aerial vehicles (UAVs).
• FIGS.2A-2K illustrate example unmanned ground vehicles (UGVs).
• FIGS.3A-3D illustrate example unmanned underwater vehicles (UUVs).
• FIG. 13 illustrates an example method for controlling motion with magnetometers.
• FIG. 14 illustrates an example method for measuring a distance traversed or a speed.
• FIG.15 illustrates an example computer system. Description of Example Embodiments [20]
• Particular embodiments facilitate autonomous motion of a robot (which may include a UAV, UGV, UUV, or USV) along a route recorded on a data-storage device.
• one or more magnetic fields are recorded along the route and the robot then navigates that route based at least in part on data received from magnetometers or other sensors on the robot.
• recorded magnetic data along a route may be used for information support of navigation and motion-control systems of autonomous robotic systems.
• a robot autonomously or semi-autonomously navigates a route using a magnetic map of the route or an environment of the route.
• a person navigates a route using a magnetic map of the route or an environment of the route.
• Particular embodiments substantially obviate accelerometers and gyroscopic devices on board the robot.
• FIGS. 1A-1D illustrate example UAVs.
• FIG.1A illustrates an example MAVIC 3 camera drone made by SZ DJI TECHNOLOGY.
• FIG. 1B illustrates an example U.S. Air Force MQ-1 Predator drone.
• FIG.1C illustrates an example KARGU rotary-wing attack drone made by STM SAVUNMA TEKNOLOJILERI MÜHENDISLIK VE TICARET.
• FIG. 1D illustrates an example ALPAGU fixed-wing attack drone, also made by STM SAVUNMA TEKNOLOJILERI MÜHENDISLIK VE TICARET.
• UAVs are described and illustrated herein, this disclosure contemplates any suitable UAVs.
• a UAV is an aircraft without a human pilot, crew, or passengers on board.
• a UAV may be a component of an unmanned aircraft system (UAS), which may include a ground-based or other controller and a system of communication with the UAV.
• UAS unmanned aircraft system
• FIGS. 2A-2D illustrate example UGVs.
• FIG. 2A illustrates an example CENTAUR robot made by TELEDYNE FLIR.
• FIG. 2A illustrates an example CENTAUR robot made by TELEDYNE FLIR.
• FIG. 2B illustrates an example HUSKY UGV made by CLEARPATH ROBOTICS, fitted with a mobile manipulation arm.
• FIG. 2C illustrates an example JACKAL UGV made by CLEARPATH ROBOTICS, fitted with a mobile manipulation arm and a stereo camera.
• FIG. 2D illustrates an example WARTHOG UGV made by CLEARPATH ROBOTICS.
• FIG. 2E illustrates an example DINGO indoor robot made by CLEARPATH ROBOTICS.
• FIG. 2F illustrates an example MOOSE UGV also made by CLEARPATH ROBOTICS.
• FIG. 2G illustrates an example MISSION MASTER autonomous unmanned ground vehicle (A-UGV) made by RHEINMETALL, fitted with sensors for detecting chemical, biological, radiological, and nuclear (CBRN) threats.
• FIG. 2H illustrates an example unmanned baggage handler made by RHEINMETALL.
• FIG. 2I illustrates an example SPOT robot made by BOSTON DYNAMICS.
• FIG. 2J illustrates another example SPOT robot, fitted with a mobile manipulation arm.
• FIG. 2K illustrates an example ATLAS robot made by BOSTON DYNAMICS.
• a UGV is a vehicle that operates in contact with the ground without a human on board.
• a UGV may have a set of sensors for observing its environment, and one or more functions of the UGV may be controlled remotely by one or more human operators or with a suitable degree of autonomy (such as, for example, autopilot assistance or, as another example, full autonomy with no provision for human intervention or other control).
• a UGV may use any suitable method(s) of terrestrial locomotion. For example, a UGV may move from one location to another by rolling, sliding, walking, running, hopping, metachronal motion, slithering, brachiating, or any suitable combination of the foregoing using one or more wheels, treads, legs, or other structures.
• a UGV may include a conventional land vehicle, such as for example a forklift, conventional car, truck, tractor, or tractor-trailer truck.
• a UGV may include earth-moving, agricultural, or forestry equipment, such as for example an excavator, backhoe loader, bulldozer, skid-steer loader, motor grader, crawler loader, trencher, scraper, dump truck, harvester, mower, baler, feller buncher, shovel logger, or other equipment.
• reference to a UGV may encompass an autonomous ground vehicle (AGV) or autonomous vehicle, and vice versa, where appropriate.
• AGV autonomous ground vehicle
• Reference to a UGV may encompass a rover, and vice versa, where appropriate.
• FIGS. 3A-3D illustrate example UUVs.
• FIG 3A illustrates an example BLUEFIN-21 UUV made by GENERAL DYNAMICS MISSION SYSTEMS.
• FIG 3B illustrates an example BLUEFIN HOVERING AUTONOMOUS UNDERWATER VEHICLE (HAUV) made by GENERAL DYNAMICS MISSION SYSTEMS.
• FIG 3C illustrates an example SEAOTTER made by ATLAS MARIDAN.
• FIG 3D illustrates an example SEAFOX made by ATLAS MARIDAN.
• a UUV is a submersible vehicle that is able to operate underwater without a human occupant.
• a UUV may be a remotely operated underwater vehicle (ROUV) controlled remotely by one or more human operators or one or more computer systems through one or more wired or wireless connections.
• ROUV remotely operated underwater vehicle
• FIGS.4A-4G illustrate example USVs.
• FIG.4A illustrates an example SL40 USV made by OCEANALPHA LTD.
• FIG. 4B illustrates an example M40 autonomous hyrdographic survey boat made by OCEANALPHA LTD.
• FIG. 4C illustrates an example M80 autonomous survey boat made by OCEANALPHA LTD.
• FIG. 4D illustrates an example ME120 hydrographic USV made by OCEANALPHA LTD.
• FIG. 4E illustrates an example M75 autonomous surveillance and rescue vessel made by OCEANALPHA LTD.
• FIG. 4F illustrates an example M300 autonomous firefighting vessel made by OCEANALPHA LTD.
• FIG. 4G illustrates an example autonomous cargo ship developed by OCEANALPHA LTD.
• a USV is a boat or ship that operates on the surface of a body of water without a crew.
• One or more functions of a USV may be controlled remotely by one or more human operators or with a suitable degree of autonomy (such as, for example, autopilot assistance or, as another example, full autonomy with no provision for human intervention or other control).
• reference to a USV may encompass an unmanned surface vehicle (USV), an autonomous surface vessel (ASV), an autonomous surface vehicle (ASV), an uncrewed surface vessel (USV), an uncrewed surface vehicle (USV), or drone ship, and vice versa, where appropriate.
• reference to a robot may encompass a drone, and vice versa, where appropriate.
• reference to a e may encompass a rover, and vice versa, where appropriate.
• Reference to a robot may encompass a UAV, UGV, UUV, USV, UAS, RPA, A- UGV, AGV, ROUV, AUV, or ASV, and vice versa, where appropriate.
• this disclosure contemplates a e having any suitable functions with any suitable level of autonomy.
• one or more functions of a robot may have full autonomy, requiring no human attention.
• One or more functions of a e may have conditional autonomy, requiring no human attention in particular circumstances but requiring human control in other circumstances.
• One or more functions of a robot may have partial autonomy, assisting a human operator by controlling one or more aspects of that function.
• One or more functions of a robot may have no autonomy, requiring full human control.
• particular levels of autonomy are described herein, this disclosure contemplates any suitable levels of autonomy.
• this disclosure contemplates a robot having any suitable level of remote control or onboard control.
• one or more functions of a robot may be controlled by one or more humans or one or more computer systems that are on board the robot.
• One or more functions of a robot may be controlled by one or more humans or one or more computer systems that are remote from or otherwise not on board the robot, with one or more wired or wireless connections to the robot.
• One or more functions of a robot may be controlled by one or more humans or one or more computer systems that are on board the robot while one or more other functions of the robot are controlled by one or more humans or one or more computer systems that are not on board the robot.
• Example functions of a robot include, but are not limited to, translating or otherwise moving from one location to another, e.g., on land, in air, or in or on a body of water.
• FIG. 5 illustrates example measurement of an example magnetic field at an example point 500 in space.
• FIG. 5 illustrates example measurement of an example magnetic field at an example point 500 in space.
• B is a vector representing in a three- dimensional coordinate frame the magnitude (or strength) and direction of the magnetic field at point 500.
• the coordinate frame may be a body-fixed coordinate frame relative to a device measuring the magnetic field, such as a magnetometer.
• B x is the x component of the magnitude of the magnetic field (which may be the projection of the strength of the magnetic field along the x axis of the coordinate frame)
• B y is the y component of the magnitude of the magnetic field (which may be the projection of the strength of the magnetic field along the y axis of the coordinate frame)
• B z is the z component of the magnitude of the magnetic field (which may be the projection of the strength of the magnetic field along the z axis of the coordinate frame).
• Bh is the magnitude of the projection of the vector of magnetic induction to a plane defined by the x and y axes of the coordinate frame, which may be a horizontal plane.
• D is the declination angle of the magnetic field relative to the coordinate frame, and I is the inclination angle of the magnetic field relative to the body-fixed coordinate frame.
• B x , B y , and B z are measured components of the magnetic-induction vector, e.g., by a magnetometer, then with those values the following equations may be used to determine the magnitude of the magnetic-induction vector,
• a magnetometer is a device that measures an external magnetic field or magnetic dipole moment.
• a magnetometer measures the direction, strength, or relative change of a magnetic field at a point in space.
• a magnetometer includes one or more magneto-resistive (MR) or other sensors.
• MR magneto-resistive
• a magnetometer may include one or more superconducting quantum-interference device (SQUID) sensors; search-coil sensors; nuclear- precession sensors; optically pumped sensors; fiber-optic sensors; fluxgate sensors; magneto- inductive sensors; anisotropic magneto-resistive (AMR) sensors; bias magnet field sensors; reed switches; Hall sensors; integrated Hall sensors; giant magneto-resistive (GMR) sensors; unpinned sandwich GMR sensors; antiferromagnetic-multilayer sensors; spin-valve sensors; spin-dependent tunneling (SDT) sensors; colossal magneto-resistive (CMR) sensors; or other suitable sensors for measuring a magnetic field.
• SQUID superconducting quantum-interference device
• a magnetometer may be contained in a semiconductor package (which may include, for example, a metal, glass, plastic, or ceramic casing).
• a magnetometer may be present alongside one or more Internet of Everything (IoT) sensors.
• IoT Internet of Everything
• a magnetometer may be used in conjunction with one or more other sensors, such as, for example, accelerometers, gyroscopes, or light detection and ranging (LIDAR) sensors.
• the semiconductor package containing the magnetometer may be mounted on a printed circuit board (PCB) along with one or more other components, which together may be referred to as an assembly (or module).
• the assembly may include an inter-integrated circuit (I 2 C) interface for communicating with one or more other devices, such as for example one or more controllers via one or more switches.
• I 2 C inter-integrated circuit
• An example switch includes the TCA9548A I 2 C multiplexer made by ADAFRUIT INDUSTRIES.
• An TCA9548A I 2 C multiplexer can switch up to eight magnetometers over an I 2 C bus.
• An TCA9548A I 2 C multiplexer has its own 0x70 I 2 C address, which can be changed using three pins. In particular embodiments, this enables the microcontroller to communicate with up to 64 magnetometers.
• Example magnetometers include the HMC5983 three-axis digital-compass integrated circuit (IC) made by HONEYWELL, the HMC5883L three-axis digital-compass IC made by HONEYWELL, the QMC5883L three-axis magnetic sensor made by QST, and the AK8963 three-axis electronic compass made by ASAHI KASEI MICRODEVICES.
• IC digital-compass integrated circuit
• Example assemblies (or modules) with magnetometers include a GY-271L electronic compass and a GY-273 compass module.
• FIG. 6 illustrates an example semiconductor package 600 containing one or more example magnetometers. Although a particular semiconductor package with one or more particular magnetometers is described and illustrated herein, this disclosure contemplates any suitable semiconductor packages with any suitable number of any suitable magnetometers. Semiconductor package 600 may also be referred to as magnetometer 600. In the example of FIG.6, magnetometer 600 has 16 pins 602, with four on each side.
• Pin 602a is pin 1
• pin 602b is pin 2
• pin 602c is pin 3
• pin 602d is pin 4
• pin 602e is pin 5
• pin 602f is pin 6
• pin 602g is pin 7
• pin 602h is pin 8.
• Each of these pins may have a predefined function, such as connecting magnetometer 600 to a clock signal, connecting magnetometer 600 to a power supply, defining a voltage swing for digital input and output to and from magnetometer 600, carrying input to magnetometer 600, or carrying output from magnetometer 600.
• Magnetometer 600 includes a first-pin indicator 604 that visually indicates the location of pin 1, which is the first pin moving counter-clockwise from visual indication 604. The pin numbers increase moving counter-clockwise from pin 1.
• first-pin indicator 604 is a printed dot on the top of magnetometer 600.
• visual indication 604 may be an indented dot or a notch.
• magnetometer 600 has a body-fixed coordinate frame that includes x axis 606a, y axis 606b, and z axis 606c. Axes 606a, 606b, and 606c are shown in FIG. 6 for explanatory purposes only and are not physical structures of magnetometer 600.
• Magnetometer 600 includes an orientation indicator 606 (which may be printed on the top of magnetometer 600) that visually indicates the orientation of the body-fixed coordinate frame of magnetometer 600. In orientation indicator 606, an arrow indicates the magnetic-field direction that generates a positive output reading in a normal-measurement configuration (or mode) of magnetometer 600.
• magnetometer 600 may determine the x, y, and z vector components of the magnetic field, B x , B y , and B z , and output those values to a controller.
• FIGS. 7A-7B illustrate an example module 700 with an example magnetometer.
• FIGS. 7A-7B illustrate an example module 700 with an example magnetometer.
• module 700 is a GY-271L electronic compass including an HMC5883L three-axis digital-compass IC made by HONEYWELL.
• FIG. 7A is a top view of module 700
• FIG. 7B is a bottom view of module 700.
• module 700 has a body-fixed coordinate frame and includes an orientation indicator 702 that visually indicates the orientation of the body-fixed coordinate frame of module 700.
• FIG. 8 illustrates an example sensor set 800 including four example magnetometers 802. In the example of FIG.
• magnetometers 802 are arranged and oriented on a plane with a step of 90o. In particular embodiments, increasing the number of pairs of magnetometers decreases this step to 45o (as shown in FIG. 9), 22.5o, 11.5o, etc.
• magnetometers 802 are mounted on a PCB or other board 804. One or more other components not shown in FIG. 8 may also be mounted on board 804.
• magnetometers 802 may be coupled to a TCA9546A switch made by TEXAS INSTRUMENTS that is also mounted on board 804.
• Magnetometers 802 may each be a GY-271L electronic compass including an HMC5883L three-axis digital-compass IC made by HONEYWELL.
• each magnetometer 802 has a body-fixed coordinate frame, and the orientation of the body-fixed coordinate frame of each magnetometer 802 is indicated by an orientation indicator 806.
• Board 804 may be substantially flat and define a plane.
• One or more magnetometers 802 may each be mounted on board 804 such that the plane defined by the x and y axes of the body-fixed coordinate frame of magnetometer 802 is substantially parallel to the plane defined by board 804.
• one or more magnetometers 802 may each be mounted on board 804 such that there is an acute angle between the plane defined by the x and y axes of the body-fixed coordinate frame of magnetometer 802 and the plane defined by board 804.
• angle of inclination of a magnetometer 802 the following is meant: 1.
• magnetometer 802 may have a “technical” angle of inclination along the x or y axes relative to the plane defined by board 804.
• Magnetometers 802 may be equidistant from a center 808 (or an axis of rotation) of board 804.
• Magnetometers 802 may be installed parallel to the plane defined by board 804.
• each of one or more magnetometers 802 may be raised by the value h above the plane defined by board 804 (as described above).
• Magnetometers 802 in sensor set 800 may be arranged in subsets, and magnetometers 802 in each subset may be oriented or configured relative to each other to generate predetermined combinations of output readings.
• magnetometers 802 in sensor set 800 may be arranged in pairs. A first magnetometer 802 in each pair may be oriented or configured relative to a second magnetometer 802 in the pair such that the output readings of first magnetometer 802 coincide with the output readings of second magnetometer 802, if second magnetometer 802 is rotated 180o and set strictly in place of first magnetometer 802.
• the axis of rotation is a point equal to half the distance between the chips (sensing elements) of magnetometers 802 (modules GY-271M).
• magnetometers 802a and 802c are arranged in a pair and oriented relative to each other such that the x axis of the body- fixed coordinate frame of magnetometer 802a is 180o from the x axis of the body-fixed coordinate frame of magnetometer 802c, with the x-axis arrow in orientation indicator 806a and the x-axis arrow in orientation indicator 806c pointing in opposite directions.
• Magnetometers 802a and 802c are also oriented relative to each other such that the y axis of the body-fixed coordinate frame of magnetometer 802a is 180o from the y axis of the body-fixed coordinate frame of magnetometer 802c, with the y-axis arrow in orientation indicator 806a and the y-axis arrow in orientation indicator 806c pointing in opposite directions.
• the y-axis arrow in orientation indicator 806a and the y-axis arrow in orientation indicator 806c pointing in opposite directions.
• magnetometers 802b and 802d are arranged in a pair and oriented relative to each other such that the x axis of the body-fixed coordinate frame of magnetometer 802b is 180o from the x axis of the body-fixed coordinate frame of magnetometer 802d, with the x-axis arrow in orientation indicator 806b and the x-axis arrow in orientation indicator 806d pointing in opposite directions.
• Magnetometers 802b and 802d are also oriented relative to each other such that the y axis of the body-fixed coordinate frame of magnetometer 802b is 180o from the y axis of the body-fixed coordinate frame of magnetometer 802d, with the y-axis arrow in orientation indicator 806a and the y-axis arrow in orientation indicator 806c pointing in opposite directions.
• this disclosure contemplates any suitable subsets of any suitable magnetometers with any suitable orientations or configurations relative to each other generating any suitable predetermined combinations of any suitable output readings.
• magnetometers 902 are arranged and oriented on a plane with a step of 45o. Magnetometers 902 are mounted on a PCB or other board 904. One or more other components not shown in FIG. 9 may also be mounted on board 904. For example, magnetometers 902 may be coupled to a TCA9548A switch made by TEXAS INSTRUMENTS that is also mounted on board 904. Magnetometers 902 may each be a GY-271L electronic compass including an HMC5883L three-axis digital-compass IC made by HONEYWELL.
• the sensors are equidistant from a center 904 (or an axis of rotation) of board 904.
• the distance from the axis to a magnetometer 902 is minimized when using planar technology (e.g. lithography).
• each sensor may be dimensionless (i.e. a point).
• a sensor set (such as for example sensor set 800 or sensor set 900) may be presented as a single microchip.
• Magnetometers 902 in sensor set 900 may be arranged in subsets, and magnetometers 902 in each subset may be oriented or configured relative to each other to generate predetermined combinations of output readings.
• magnetometers 902 in sensor set 902 may be arranged in pairs.
• Magnetometers 902a and 902e are also oriented with respect to each other such that the y axis of the body-fixed coordinate frame of magnetometer 902a is 180o from the y axis of the body-fixed coordinate frame of magnetometer 902e, with the y-axis arrow in orientation indicator 906a and the y-axis arrow in orientation indicator 906e pointing in opposite directions.
• magnetometers 902b and 902f are similarly arranged and oriented relative to each other; magnetometers 902c and 902g are similarly arranged and oriented relative to each other; and magnetometers 902d and 902h are similarly arranged and oriented relative to each other.
• a sensor set may include magnetometers arranged and oriented on a two- dimensional shape, such as a square or octagon. For example, as shown in FIG. 8, a sensor set may include four magnetometers arranged and oriented on a square.
• a sensor set may include eight magnetometers arranged and oriented on an octagon, but the same approach may be extended to cases of 16-sided figures, 32-sided figures, 64-sided figures, or figures with more than 64 sides.
• sensor sets arranged and oriented on particular two-dimensional shapes are described and illustrated, this disclosure contemplates any suitable sensor sets arranged and oriented on any suitable two-dimensional shapes.
• a sensor set may include magnetometers arranged and oriented on a three- dimensional shape, such as a polyhedron or a faceted sphere.
• a sensor set may include eight or more magnetometers arranged and oriented on the facets of an octahedron, with each facet of the octahedron including one or more of the magnetometers.
• the sensor set may include four or more pairs of opposing magnetometers, with the magnetometers in each pair being oriented with respect to each other such that the x, y, or z axes of their respective body- fixed coordinate frames are 180o apart.
• a sensor set may include 12 or more magnetometers arranged and oriented on the facets of a dodecahedron, with each facet of the dodecahedron including one or more of the magnetometers.
• the sensor set may include two or more pairs of opposing magnetometers, with the magnetometers in each pair being oriented with respect to each other such that the x, y, or z axes of their respective body-fixed coordinate frames are 180o apart.
• a sensor set may include 20 or more magnetometers arranged and oriented on the facets of an icosahedron, with each facet of the icosahedron including one or more of the magnetometers.
• the sensor set may include two or more pairs of opposing magnetometers, with the magnetometers in each pair being oriented with respect to each other such that the x, y, or z axes of their respective body-fixed coordinate frames are 180o apart.
• a sensor set may include 360 or more magnetometers arranged and oriented around a faceted sphere.
• the sensor set may include 180 or more pairs of opposing magnetometers, with the magnetometers in each pair being oriented with respect to each other such that the x, y, or z axes of their respective body-fixed coordinate frames are 180o apart.
• one or more of the facets of the three-dimensional shape may include one magnetometer.
• one or more of the facets of the three-dimensional shape may include two or more opposing or non-opposing magnetometers, which may be arranged and oriented on a two- dimensional shape, such as a square or octagon or polygon or even a sphere.
• a resulting chip including a set of pairs of magnetometers (four, eight, 16, etc.) may be implemented using a planar technology (e.g. lithography).
• the first (j) magnetometer of the pair measures the strength (magnitude) and direction of a magnetic field and has a coordinate frame including axes x j , y j , z j , which are 90o degrees from each other.
• the second (j+1) magnetometer of the pair measures the strength (magnitude) and direction of the magnetic field and has a coordinate frame including axes x j+1 , y j+1 , and z j+1 axis, which are also 90o from each other.
• each of one or more of the magnetometers in each of one or more of the N pairs of magnetometers is installed on a base (such as for example board 804) with an acute angle between the plane defined by the base and the plane defined by the x and y axes of the coordinate frame of the magnetometer.
• the edge of the magnetometer closest to the center (or the axis of rotation) of the pair of magnetometers may be raised above the plane defined by the base and form an acute angle with it, and the edge of the magnetometer farthest from the center (or the axis of rotation) of the pair of magnetometers may be closer to the plane defined by the base.
• the magnetometers in each of one or more of the N pairs of magnetometers are at least approximately equidistant from the center (or the axis of rotation) of the pair of magnetometers.
• the N pairs of magnetometers all have the same axis of rotation and the angle about that axis between adjacent pairs of magnetometers is degrees .
• the second (j+1) magnetometer in each of one or more of the N pairs of magnetometers, is positioned relative to the first (j) magnetometer such that the measurements of the magnetic field recorded by the second (j+1) magnetometer along each of the x j+1 axis, the y j+1 axis, and the z j+1 axis when the second (j+1) magnetometer is rotated by 180o (and set at least approximately in the place of the first (j) magnetometer are at least approximately equal.
• the corresponding recorded values of the magnetic induction are B x1 , B y1 , and B z1 .
• the corresponding value s B x2 , B y2 , and B z2 will be at least approximately identical to B x1 , B y1 , and B z1 .
• the N pairs of magnetometers are located on the facets of a three-dimensional W-faceted surface.
• a robot or other apparatus may include one or more sensor sets that each include two or more magnetometers and use those sensor sets to generate a magnetic map or for navigation or localization using an existing magnetic map that.
• a magnetic map of an area may be created using a sensor set in a recording mode in which B x , B y , and B z at each point i along a route are received from the sensor set (e.g.
• FIG. 1 A block diagram illustrating an exemplary computing environment in accordance with the present disclosure.
• FIG. 1 A block diagram illustrating an exemplary computing environment in accordance with the present disclosure.
• FIG. 1 A block diagram illustrating an exemplary computing environment in accordance with the present disclosure.
• FIG. 1 A block diagram illustrating an exemplary computing environment in accordance with the present disclosure.
• FIG. 1 A block diagram illustrating an exemplary computing environment in accordance with the present disclosure.
• magnetometers 1002 for measuring a distance traversed by or a speed (e.g. an average speed) of a robot or other apparatus (such as for example a mobile telephone or other mobile device).
• magnetometers 1002 are mounted on a PCB or other board 1004.
• One or more other components not shown in FIG. 10 may also be mounted on board 1004.
• magnetometers 1002 may be coupled to a TCA9548A switch made by TEXAS INSTRUMENTS that is also mounted on board 1004.
• Magnetometers 1002 may each be a GY-271L electronic compass including an HMC5883L three-axis digital-compass IC made by HONEYWELL.
• each magnetometer 1002 has a body-fixed coordinate frame, and the orientation of the body-fixed coordinate frame of each magnetometer 1002 is indicated by an orientation indicator 1006.
• Magnetometers 1002 in sensor set 1000 may be arranged in subsets. For example, magnetometers 1002 in sensor set 1000 may be arranged in pairs. In the example of FIG.
• magnetometers 1002a and 1002b are arranged in a pair and oriented relative to each other such that the y axis of the body-fixed coordinate frame of magnetometer 1002a is substantially aligned with the y axis of the body-fixed coordinate frame of magnetometer 1002b (at approximately 0o relative to each other or, alternatively, approximately 180o relative to each other), with the y-axis arrow in orientation indicator 1006a and the y-axis arrow in orientation indicator 1006b aligned with each other and pointing in the same direction (or alternatively in substantially opposite directions).
• Magnetometers 1002a and 1002b are also arranged relative to each other such that a center 1010a of semiconductor package 1008a containing the magnetic-field-sensing element(s) of magnetometer 1002a is a predetermined distance L from a center 1010b of semiconductor package 1008b containing the magnetic-field-sensing element(s) of magnetometer 1002b.
• magnetometers 1002c and 1002d are arranged in a pair and oriented relative to each other such that the y axis of the body- fixed coordinate frame of magnetometer 1002c is substantially aligned with the y axis of the body-fixed coordinate frame of magnetometer 1002d (at approximately 0o relative to each other or, alternatively, approximately 180o relative to each other), with the y-axis arrow in orientation indicator 1006c and the y-axis arrow in orientation indicator 1006d aligned with each other and pointing in the same direction (or alternatively in substantially opposite directions).
• Magnetometers 1002c and 1002d are also arranged relative to each other such that a center 1010c of semiconductor package 1008c containing the magnetic-field-sensing element(s) of magnetometer 1002c is a predetermined distance L from a center 1010d of semiconductor package 1008d containing the magnetic-field-sensing element(s) of magnetometer 1002d.
• magnetometers 1002m and 1002n are arranged in a pair and oriented relative to each other such that the y axis of the body-fixed coordinate frame of magnetometer 1002m is substantially aligned with the y axis of the body-fixed coordinate frame of magnetometer 1002n (at approximately 0o relative to each other or, alternatively, approximately 180o relative to each other), with the y-axis arrow in orientation indicator 1006m and the y-axis arrow in orientation indicator 1006n aligned with each other and pointing in the same direction (or alternatively in substantially opposite directions).
• Magnetometers 1002m and 1002n are also arranged relative to each other such that a center 1010m of semiconductor package 1008m containing the magnetic- field-sensing element(s) of magnetometer 1002m is a predetermined distance L from a center 1010n of semiconductor package 1008n containing the magnetic-field-sensing element(s) of magnetometer 1002n.
• magnetometers 1002 sense a magnetic field and detect pulses corresponding to peaks of the corresponding magnetic values and the number of pulses corresponds to the robot or other apparatus (such as for example a mobile telephone or other mobile device) traversing a fixed distance, which may be referred to as a step (e.g. L).
• sensor set 1004 is associated with a microcontroller or other processor to count the number of pulses and convert them into a measure of a traversed distance ( ) or an average speed of movement of the robot or other apparatus (such as for example a mobile telephone or other mobile device).
• Particular embodiments use the measurements from a pair of equivalent magnetometers 1002 (to calculate an average speed or traversed distance) fixed in the same (or opposite, e.g., rotated by 180o in a horizontal plane) orientation in front of each other (as shown in FIG. 10).
• Magnetometers 1002 in each pair of magnetometers 1002 are located a fixed, predetermined distance L from each other.
• the value of L is selected based on the technological possibility of manufacturing of magnetometers 1002 and may be from fractions of a micrometer to several meters.
• the controller records the transition of magnetometer 1002b to point P and adds the value of L to the path already traversed.
• the controller may then calculate the average speed using with t being the time between magnetometer 1002a and magnetometer 1002b reaching point Q, which may be obtained from a clock signal in magnetometers 1002a and 1002b or in another component of sensor set 1000 or in a controller associated with sensor set 1000.
• Sensor set 1000 includes n magnetometers 1002 in equivalent pairs of magnetometers 1002 located on a horizontal platform. Magnetometers 1002 in each pair are located a fixed, predetermined distance L from each other.
• first magnetometer 1002 and then second magnetometer 1002 sequentially first magnetometer 1002 and then second magnetometer 1002, the robot or other apparatus (such as for example a mobile telephone or other mobile device) including first and second magnetometers 1002 has traversed the distance L.
• the events when the magnetic measurements of each magnetometer in the pair coincide may be recorded by the robot or other apparatus (such as for example a mobile telephone or other mobile device) and processed by the controller.
• data- processing unit 1204 may compare those values with corresponding B xk , B yk , and B zk values from data storage 1208 and, based on the results of those comparisons, generate control parameters X 1 , X 2 , ... X n , which are communicated to ECU 1210.
• data B xkj , B ykj , and B zkj may be received from magnetometer k in sensor set 1202) for space point j (route on the map) via the I 2 C bus and enter data-processing unit 1204, where the data is translated into the desired arithmetic- logic-unit (ALU) format and sent by the (serial peripheral interface) SPI bus to data-processing unit 1206.
• ALU arithmetic- logic-unit
• Data-processing unit 1206 processes the information and writes the data to data storage 1208 in the desired format.
• data-processing unit 1206 may receive B x , B y , and B z values correlated with points along a route and with magnetometers in sensor set 1202 and store that data in data storage 1208.
• data-processing unit 1206 may read B xk , B yk , and B zk values from data storage 1208 corresponding to B x , B y , and B z values from sensor set 1202 and communicate those B xk , B yk , and B zk values to data-processing unit 1204.
• data-processing unit 1206 may store in data storage 1208 B x , B y , and B z values correlated with points along a route and with magnetometers in sensor set 1202.
• data-processing unit 1206 may read B xk , B yk , and B zk values from data storage 1208 corresponding to B x , B y , and B z values from sensor set 1202.
• system 1200 is described and illustrated as including particular data storage, this disclosure contemplates system 1200 including any suitable data storage.
• ECU 1210 is coupled to data-processing unit 1204.
• ECU 1210 may be an electronic engine-control unit and may include one or more L9110 motor-control drivers. ECU 1210 may receive control parameters X 1 , X 2 , ... X n , from data-processing unit 1204 and, based on those control parameters, generate instructions for one or more motors or other devices that cause the robot or other apparatus (such as for example a mobile telephone or other mobile device) including system 1200 to move.
• control parameters X 1 , X 2 , ... X n from data-processing unit 1204 and, based on those control parameters, generate instructions for one or more motors or other devices that cause the robot or other apparatus (such as for example a mobile telephone or other mobile device) including system 1200 to move.
• system 1200 is described and illustrated as including a particular ECU operating in a particular manner, this disclosure contemplates system 1200 including any suitable ECU operating in any suitable manner.
• a particular system for controlling particular motion of a robot or other apparatus such as for example a mobile telephone or other mobile device
• magnetometers including particular components or sub-systems in a particular arrangement
• this disclosure contemplates any suitable system for controlling any suitable motion of a robot or other apparatus (such as for example a mobile telephone or other mobile device) with magnetometers, including any suitable components or sub-systems in any suitable arrangement.
• data-processing unit 1204 produces control parameters X 1 , X 2 , ... X n for ECU 1210.
• data from sensor set 1202 may be communicated to and processed by data-processing unit 1204 and then recorded for each point i in data storage 1208 by data-processing unit 1206 (e.g. values of B xk , B yk , and B zk , index k map).
• data-processing unit 1206 e.g. values of B xk , B yk , and B zk , index k map.
• the robot or other apparatus such as for example a mobile telephone or other mobile device
• This sequence is repeated until the end of the route at point B xkn , B ykn , and B zkn .
• an algorithm in data-processing unit 1204 may produce control parameters, X 1 , X 2 , ... X n , that provide information to ECU 1210 regarding a next maneuver by the robot or other apparatus (such as for example a mobile telephone or other mobile device) to address the inequality.
• data-processing unit 1204 may reduce and even eliminate the data inequality and achieve substantial coincidence between recorded B xki , B yki , and B zki and current values B xi , B yi , and B zi as the robot or other apparatus (such as for example a mobile telephone or other mobile device) maneuvers.
• the robot or other apparatus (such as for example a mobile telephone or other mobile device) may start a motion-maneuver to the next route point B xki+1 , B yki+1 , and B zki+1 read from data storage 1208.
• Particular embodiments make it possible to repeat a previously recorded route in forward or reverse directions.
• Particular embodiments may facilitate simultaneous localization and mapping (SLAM).
• a robot or other apparatus such as for example a mobile telephone or other mobile device
• a previously recorded route in forward or reverse direction which the robot or other apparatus (such as for example a mobile telephone or other mobile device) may have itself recorded or may have received from another robot or other apparatus (such as for example a mobile telephone or other mobile device) or other source
• that robot or other apparatus may simultaneouly measure and record the magnetic field around the robot or other apparatus (such as for example a mobile telephone or other mobile device) and those measurements may be used to update or create a magnetic map of the route.
• FIG 13 illustrates an example method for controlling motion of a robot or other apparatus (such as for example a mobile telephone or other mobile device) with magnetometers. The method may begin at step 1300, where data-processing unit 1204 determines whether system 1200 is in recording mode.
• step 1302 data-processing unit 1204 receives output from sensor set 1202.
• the output may include the x, y, and z vector components of an external magnetic field (B x , B y , and B z ) as measured by each magnetometer in sensor set 1202 at a point i along the path or within the region being magnetically mapped.
• data-processing unit 1204 generates magnetic-map data based on the output from sensor set 1202.
• step 1308 if the robot or other apparatus (such as for example a mobile telephone or other mobile device) has not reached its destination, then the method returns to step 1302, where data-processing unit 1204 receives output from sensor set 1202 at a next point i + 1 along the path or within the region being magnetically mapped as the robot or other apparatus (such as for example a mobile telephone or other mobile device) traverses the path or region.
• step 1300 if system 1200 is not in recording mode, then the method proceeds to step 1310, where data-processing unit 1204 determines whether system 1200 is in navigation mode. If system 1200 is not in navigation mode, then the method returns to step 1300. If system 1200 is in navigation mode (e.g.
• step 1312 data-processing unit 1204 receives output from sensor set 1202.
• the output includes the x, y, and z vector components of an external magnetic field (B x , B y , and B z ) as measured by each magnetometer in sensor set 1202 at a point j along the route being navigated.
• step 1314 data-processing unit 1204 accesses magnetic-map data corresponding to the output from sensor set 1202.
• the magnetic-map data corresponding to the output from sensor set 1202 includes B x , B y , and B z values corresponding to each magnetometer m in sensor set 1202 for point j as indicated by the map l of the region that the robot or other apparatus (such as for example a mobile telephone or other mobile device) is navigating in.
• data-processing unit 1204 compares the output of sensor set 1202 with the corresponding magnetic-map data.
• data-processing unit 1204 may compare all data for point j, B xkj , B ykj , and B zkj , of the map against incoming values from sensor set 1202, B xkcurr , B ykcurr , and B zkcurr in real time.
• the ALU of data-processing unit 1204 compares the data and issues control commands to the actuators (motor drivers) of the robot or other apparatus (such as for example a mobile telephone or other mobile device) .
• data- processing unit 1204 generates one or more control parameters based on the comparison at step 1316.
• the maneuver may attempt to take the robot or other apparatus (such as for example a mobile telephone or other mobile device) including system 1200 to a next point j + 1 along the route being navigated.
• the ALU of data- processing unit 1204 makes a comparison and issues a control command, for example, rotating one degree clockwise around the sensor axis (of eight magnetometers). Then data-processing unit 1204 receives from sensor set 1202 new data B x1curr' , B ykcurr' , and B zkcurr' . The ALU of data- processing unit 1204 compares them with the values of B xkj , B ykj , and B zkj from the map. Then data-processing unit 1204 issues another control command, e.g., a rotation of one degree clockwise around the axis.
• the process continues according to the given algorithm until the material inequality between the measurement of the external magnetic field at point j and the corresponding magnetic-card data is eliminated.
• the robot or other apparatus (such as for example a mobile telephone or other mobile device) takes a step from point j in a given direction.
• the robot or other apparatus such as for example a mobile telephone or other mobile device
• system 1200 has reached its destination (e.g. the robot or other apparatus (such as for example a mobile telephone or other mobile device) has completed traversing the route to be navigated), then the method may end.
• Particular embodiments may repeat one or more steps of the method of FIG 13, where appropriate.
• this disclosure describes and illustrates particular steps of the method of FIG 13 as occurring in a particular order, this disclosure contemplates any suitable steps of the method of FIG 13 occurring in any suitable order.
• this disclosure describes and illustrates an example method for controlling motion of a robot or other apparatus (such as for example a mobile telephone or other mobile device) with magnetometers including the particular steps of the method of FIG 13, this disclosure contemplates any suitable method for controlling motion of a robot or other apparatus (such as for example a mobile telephone or other mobile device) with magnetometers including any suitable steps, which may include all, some, or none of the steps of the method of FIG 13, where appropriate.
• FIG. 14 illustrates an example method for measuring a distance traversed by or a speed of a robot or other apparatus (such as for example a mobile telephone or other mobile device) .
• the method may begin at step 1400, where system 1200 measures a magnetic field with a first magnetometer of a pair of magnetometers in sensor set 1202.
• the first and second magnetometers are located a fixed, predetermined distance L from each other.
• the first magnetometer has a first body-fixed coordinate frame
• the second magnetometer has a second body-fixed coordinate frame.
• step 1402 system 1200 records the magnetic measurements made at step 1402 along with an indication of a time when those magnetic measurements were made.
• step 1404 system 1200 measures the magnetic field with the second magnetometer as the robot or other apparatus (such as for example a mobile telephone or other mobile device) including system 1200 moves.
• step 1406 system 1200 compares the magnetic measurements made at step 1402 with the magnetic measurements made at step 1404.
• step 1408 if the magnetic measurements made at step 1402 do not substantially coincide with the magnetic measurements made at step 1404, then the method returns to step 1404.
• step 1408 if the magnetic measurements made at step 1402 substantially coincide with the magnetic measurements made at step 1404, then the method proceeds to step 1410, where, based on the substantial coincidence, system 1200 determines that the robot or other apparatus (such as for example a mobile telephone or other mobile device) including system 1200 has traversed distance L. The method then proceeds to step 1412, where system 1200 calculates the average speed of that traversal using with t being the time between the magnetic measurements at step 1404 and the magnet ic measurements at step 1402, at which point the method may end. [65] Particular embodiments may repeat one or more steps of the method of FIG 14, where appropriate.
• this disclosure describes and illustrates particular steps of the method of FIG 14 as occurring in a particular order, this disclosure contemplates any suitable steps of the method of FIG 14 occurring in any suitable order.
• this disclosure describes and illustrates an example method for controlling motion of a robot or other apparatus (such as for example a mobile telephone or other mobile device) with magnetometers including the particular steps of the method of FIG 14, this disclosure contemplates any suitable method for controlling motion of a robot or other apparatus (such as for example a mobile telephone or other mobile device) with magnetometers including any suitable steps, which may include all, some, or none of the steps of the method of FIG 14, where appropriate.
• FIG. 15 illustrates an example computer system 1500.
• one or more computer systems 1500 perform one or more steps of one or more methods described or illustrated herein.
• one or more computer systems 1500 provide functionality described or illustrated herein.
• software running on one or more computer systems 1500 performs one or more steps of one or more methods described or illustrated herein or provides functionality described or illustrated herein.
• Particular embodiments include one or more portions of one or more computer systems 1500.
• reference to a computer system may encompass a computing device, and vice versa, where appropriate. Moreover, reference to a computer system may encompass one or more computer systems, where appropriate. [67] This disclosure contemplates any suitable number of computer systems 1500. This disclosure contemplates computer system 1500 taking any suitable physical form.
• computer system 1500 may be an embedded computer system, a system-on-chip (SOC), a single-board computer system (SBC) (such as, for example, a computer-on-module (COM) or system-on-module (SOM)), a desktop computer system, a laptop or notebook computer system, an interactive kiosk, a mainframe, a mesh of computer systems, a mobile telephone, a personal digital assistant (PDA), a server, a tablet computer system, or a combination of two or more of these.
• SBC single-board computer system
• COM computer-on-module
• SOM system-on-module
• desktop computer system such as, for example, a computer-on-module (COM) or system-on-module (SOM)
• desktop computer system such as, for example, a computer-on-module (COM) or system-on-module (SOM)
• laptop or notebook computer system such as, for example, a computer-on-module (COM) or system-on-module (
• one or more computer systems 1500 may perform without substantial spatial or temporal limitation one or more steps of one or more methods described or illustrated herein. As an example and not by way of limitation, one or more computer systems 1500 may perform in real time or in batch mode one or more steps of one or more methods described or illustrated herein. One or more computer systems 1500 may perform at different times or at different locations one or more steps of one or more methods described or illustrated herein, where appropriate.
• computer system 1500 includes a processor 1502, memory 1504, storage 1506, an input/output (I/O) interface 1508, a communication interface 1510, and a bus 1512.
• I/O input/output
• processor 1502 includes hardware for executing instructions, such as those making up a computer program. As an example and not by way of limitation, to execute instructions, processor 1502 may retrieve (or fetch) the instructions from an internal register, an internal cache, memory 1504, or storage 1506; decode and execute them; and then write one or more results to an internal register, an internal cache, memory 1504, or storage 1506. In particular embodiments, processor 1502 may include one or more internal caches for data, instructions, or addresses.
• processor 1502 may include one or more instruction caches, one or more data caches, and one or more translation lookaside buffers (TLBs). Instructions in the instruction caches may be copies of instructions in memory 1504 or storage 1506, and the instruction caches may speed up retrieval of those instructions by processor 1502. Data in the data caches may be copies of data in memory 1504 or storage 1506 for instructions executing at processor 1502 to operate on; the results of previous instructions executed at processor 1502 for access by subsequent instructions executing at processor 1502 or for writing to memory 1504 or storage 1506; or other suitable data. The data caches may speed up read or write operations by processor 1502.
• TLBs translation lookaside buffers
• processor 1502 may include one or more internal registers for data, instructions, or addresses. This disclosure contemplates processor 1502 including any suitable number of any suitable internal registers, where appropriate. Where appropriate, processor 1502 may include one or more ALUs; be a multi-core processor; or include one or more processors 1502. Although this disclosure describes and illustrates a particular processor, this disclosure contemplates any suitable processor.
• memory 1504 includes main memory for storing instructions for processor 1502 to execute or data for processor 1502 to operate on. As an example and not by way of limitation, computer system 1500 may load instructions from storage 1506 or another source (such as, for example, another computer system 1500) to memory 1504.
• Processor 1502 may then load the instructions from memory 1504 to an internal register or internal cache. To execute the instructions, processor 1502 may retrieve the instructions from the internal register or internal cache and decode them. During or after execution of the instructions, processor 1502 may write one or more results (which may be intermediate or final results) to the internal register or internal cache. Processor 1502 may then write one or more of those results to memory 1504. In particular embodiments, processor 1502 executes only instructions in one or more internal registers or internal caches or in memory 1504 (as opposed to storage 1506 or elsewhere) and operates only on data in one or more internal registers or internal caches or in memory 1504 (as opposed to storage 1506 or elsewhere).
• One or more memory buses may couple processor 1502 to memory 1504.
• Bus 1512 may include one or more memory buses, as described below.
• one or more memory management units reside between processor 1502 and memory 1504 and facilitate accesses to memory 1504 requested by processor 1502.
• memory 1504 includes random access memory (RAM).
• RAM random access memory
• This RAM may be volatile memory, where appropriate.
• this RAM may be dynamic RAM (DRAM) or static RAM (SRAM).
• this RAM may be single-ported or multi-ported RAM.
• Memory 1504 may include one or more memories 1504, where appropriate.
• storage 1506 includes mass storage for data or instructions.
• storage 1506 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc, a magneto-optical disc, magnetic tape, or a Universal Serial Bus (USB) drive or a combination of two or more of these.
• Storage 1506 may include removable or non-removable (or fixed) media, where appropriate.
• Storage 1506 may be internal or external to computer system 1500, where appropriate.
• storage 1506 is non-volatile, solid-state memory.
• storage 1506 includes read-only memory (ROM).
• this ROM may be mask-programmed ROM, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), electrically alterable ROM (EAROM), or flash memory or a combination of two or more of these.
• This disclosure contemplates mass storage 1506 taking any suitable physical form.
• Storage 1506 may include one or more storage control units facilitating communication between processor 1502 and storage 1506, where appropriate.
• storage 1506 may include one or more storages 1506.
• I/O interface 1508 includes hardware, software, or both, providing one or more interfaces for communication between computer system 1500 and one or more I/O devices.
• Computer system 1500 may include one or more of these I/O devices, where appropriate.
• One or more of these I/O devices may enable communication between a person and computer system 1500.
• an I/O device may include a keyboard, keypad, microphone, monitor, mouse, printer, scanner, speaker, still camera, stylus, tablet, touch screen, trackball, video camera, another suitable I/O device or a combination of two or more of these.
• An I/O device may include one or more sensors.
• I/O interface 1508 may include one or more device or software drivers enabling processor 1502 to drive one or more of these I/O devices.
• I/O interface 1508 may include one or more I/O interfaces 1508, where appropriate. Although this disclosure describes and illustrates a particular I/O interface, this disclosure contemplates any suitable I/O interface.
• communication interface 1510 includes hardware, software, or both providing one or more interfaces for communication (such as, for example, packet-based communication) between computer system 1500 and one or more other computer systems 1500 or one or more networks.
• communication interface 1510 may include a network interface controller (NIC) or network adapter for communicating with an Ethernet or other wire-based network or a wireless NIC (WNIC) or wireless adapter for communicating with a wireless network, such as a WI-FI network.
• NIC network interface controller
• WNIC wireless NIC
• computer system 1500 may communicate with an ad hoc network, a personal area network (PAN), a local area network (LAN), a wide area network (WAN), a metropolitan area network (MAN), or one or more portions of the Internet or a combination of two or more of these.
• PAN personal area network
• LAN local area network
• WAN wide area network
• MAN metropolitan area network
• One or more portions of one or more of these networks may be wired or wireless.
• computer system 1500 may communicate with a wireless PAN (WPAN) (such as, for example, a BLUETOOTH WPAN), a WI-FI network, a WI-MAX network, a cellular telephone network (such as, for example, a Global System for Mobile Communications (GSM) network), or other suitable wireless network or a combination of two or more of these.
• WPAN wireless PAN
• WI-FI wireless personal area network
• WI-MAX wireless personal area network
• cellular telephone network such as, for example, a Global System for Mobile Communications (GSM) network
• GSM Global System for Mobile Communications
• bus 1512 includes hardware, software, or both coupling components of computer system 1500 to each other.
• bus 1512 may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a front-side bus (FSB), a HYPERTRANSPORT (HT) interconnect, an Industry Standard Architecture (ISA) bus, an INFINIBAND interconnect, a low-pin-count (LPC) bus, a memory bus, a Micro Channel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCIe) bus, a serial advanced technology attachment (SATA) bus, a Video Electronics Standards Association local (VLB) bus, or another suitable bus or a combination of two or more of these.
• AGP Accelerated Graphics Port
• EISA Enhanced Industry Standard Architecture
• FAB front-side bus
• HT HYPERTRANSPORT
• ISA Industry Standard Architecture
• ISA Industry Standard Architecture
• INFINIBAND interconnect INFINIBAND interconnect
• LPC low-pin-count
• Bus 1512 may include one or more buses 1512, where appropriate. Although this disclosure describes and illustrates a particular bus, this disclosure contemplates any suitable bus or interconnect.
• a computer-readable non-transitory storage medium or media may include one or more semiconductor-based or other integrated circuits (ICs) (such, as for example, field- programmable gate arrays (FPGAs) or application-specific ICs (ASICs)), hard disk drives (HDDs), hybrid hard drives (HHDs), optical discs, optical disc drives (ODDs), magneto-optical discs, magneto-optical drives, floppy diskettes, floppy disk drives (FDDs), magnetic tapes, solid- state drives (SSDs), RAM-drives, SECURE DIGITAL cards or drives, any other suitable computer-readable non-transitory storage media, or any suitable combination of two or more of these, where appropriate.
• ICs semiconductor-based or other integrated circuits
• HDDs hard disk drives
• HHDs hybrid hard drives
• ODDs
• a computer-readable non-transitory storage medium may be volatile, non-volatile, or a combination of volatile and non-volatile, where appropriate.
• “or” is inclusive and not exclusive, unless expressly indicated otherwise or indicated otherwise by context. Therefore, herein, “A or B” means “A, B, or both,” unless expressly indicated otherwise or indicated otherwise by context. Moreover, “and” is both joint and several, unless expressly indicated otherwise or indicated otherwise by context. Therefore, herein, “A and B” means “A and B, jointly or severally,” unless expressly indicated otherwise or indicated otherwise by context.
• Particular embodiments may include all, some, or none of the components, elements, features, functions, operations, or steps of the embodiments disclosed herein.
• reference in the appended claims to an apparatus or system or a component of an apparatus or system being adapted to, arranged to, capable of, configured to, enabled to, operable to, or operative to perform a particular function encompasses that apparatus, system, component, whether or not it or that particular function is activated, turned on, or unlocked, as long as that apparatus, system, or component is so adapted, arranged, capable, configured, enabled, operable, or operative.
• this disclosure describes or illustrates particular embodiments as providing particular advantages, particular embodiments may provide none, some, or all of these advantages.

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• 2022
  • 2022-05-12 US US17/743,336 patent/US11719716B1/en active Active
• 2023
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